CN104365042A - Method and master clock for generating fail-silent synchronization messages - Google Patents
Method and master clock for generating fail-silent synchronization messages Download PDFInfo
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- CN104365042A CN104365042A CN201380030537.6A CN201380030537A CN104365042A CN 104365042 A CN104365042 A CN 104365042A CN 201380030537 A CN201380030537 A CN 201380030537A CN 104365042 A CN104365042 A CN 104365042A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/69—Spread spectrum techniques
- H04B1/707—Spread spectrum techniques using direct sequence modulation
- H04B1/7073—Synchronisation aspects
- H04B1/7087—Carrier synchronisation aspects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
- H04J3/0641—Change of the master or reference, e.g. take-over or failure of the master
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/04—Generating or distributing clock signals or signals derived directly therefrom
- G06F1/14—Time supervision arrangements, e.g. real time clock
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0685—Clock or time synchronisation in a node; Intranode synchronisation
- H04J3/0688—Change of the master or reference, e.g. take-over or failure of the master
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/22—Arrangements for detecting or preventing errors in the information received using redundant apparatus to increase reliability
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0654—Management of faults, events, alarms or notifications using network fault recovery
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/10—Active monitoring, e.g. heartbeat, ping or trace-route
- H04L43/106—Active monitoring, e.g. heartbeat, ping or trace-route using time related information in packets, e.g. by adding timestamps
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
- H04J3/0658—Clock or time synchronisation among packet nodes
- H04J3/0661—Clock or time synchronisation among packet nodes using timestamps
Abstract
The invention relates to a method for generating fail-silent synchronization messages in a distributed real-time system, said method using the following functional units: a satellite receiver (110) for receiving a time signal (S-signal) from a navigation satellite system, a precision reference clock (130) which generates an actual time signal (R-signal), a central computer (140), a monitor (120), and a data block (210) for storing configuration parameters. The satellite receiver (110) periodically generates an S-signal and the reference clock (130) periodically produces an R-signal, the nominal frequency and phase of the R-signal being identical to the frequency and phase of the S-signal and the difference between the nominal and actual R-signal being used to minimize said difference. In the event of a fault in the satellite receiver (110), the periodic synchronization message (220), which is to be generated by the central computer (140) in accordance with the configuration parameters (210), is generated on the basis of the R-signal and the monitor (120) checks whether the transmission time contained in the synchronization message matches the actual transmission time and the interval between two successive synchronization messages (220) lies within an a priori fixed tolerance interval. If this is not the case, the synchronization message (220) is modified such that each receiver identifies the synchronization message (220) as erroneous.
Description
Technical field
The present invention relates to the method for the synchronous message producing fail silent in distributed real-time systems.
The invention still further relates to the equipment carrying out such method.
The invention reside in the field of computer science and technology.Invention is described through and uses master clock reliably to produce the innovative approach meeting the SAE standard A S6802 of time triggered Ethernet and the synchronous message of ieee standard 1588 from satellite signals.
Background technology
In distributed fault-tolerance real-time system, multi-section computer control one physical treatment course, at this wherein base when all computers all have the fault-tolerant physics meeting International Atomic Time standard [7], can be favourable.Such time base is set up by receiving regular synchronous message, and message is sent by fault-tolerant master clock.When synchronous message comprises the sender of master clock in its data field.
Hereafter by describing method, explain how to set up so fault-tolerant master clock, its generation meets the SAE standard A S6802 [8] of time triggered Ethernet and the reliable synchronous message of ieee standard 1588 [9].
The term hereafter will used in herein interpreted.Ether message comprises cyclic redundancy check (CRC) (CRC) field of header, data field and redundancy.In the correct message closed, this CRC field conforms to the content of message.When the CRC field do not conformed to, message is what open.Therefore, when changing the data field of message, message must first be unlocked.When opening message, check whether the content of the message closed conforms to CRC field.If do not conformed to, then rejection message.After modifying in the data field in the message of opening, message must be closed again, that is to say and need to calculate the new CRC field conformed to, then just message can be continued to transmit.When revising the message of opening, the transient fault (such as because single-particle inversion (single event upset) that natural cosmic radiation produces) occurred during revising can cause the mistake in message, and it still exists after closed message.
In the field of computer reliability, this term of " mistake isolated location " (fault-containment unit, FCU) has the importance [the 7,136th page] of core.Mistake isolated location is appreciated that the subsystem of encapsulation, and the direct effect that wherein mistake causes is limited in this subsystem.
The quality of real-time clock is defined [7] by its accuracy.Therefore, when comparing two real-time clocks, differentiation is made to the difference of its tense and the difference of its sequential rate.When the tense of a real-time clock departs from from a reference clock regularly, the difference of display timing generator rate, jumps conversion logic (digitalen Mikro/Makro Tick Transformationslogik) when this can use numeral little/large and corrects.
Described in the priorly create synchronous message method [3,4] based on satellite signals and carefully do not state security personnel about master clock and fault-tolerant problem.
The method and apparatus of opening innovation of the present invention, it meets the SAE standard A S6802 of time triggered Ethernet and the synchronous message of ieee standard 1588 for reliably producing, base during to set up reliable physics in distributed real-time systems.According to the present invention, the master clock of a fail silent is set up by three wrong isolated locations, i.e. satellite receiver, the central computer containing reference clock and the separate monitor containing special clock.Under normal circumstances, do basis with the time signal of satellite receiver and produce synchronous message, and the sequential rate of reference clock is adapted to the sequential rate of satellite signals.Separate monitor monitors the definite time interval between periodic synchronization message extraly.When mistake recognized by monitor, the synchronous message sent is revised in some manner so that each receiver can modified synchronous message be identified as mistake.If the situation that the time signal that satellite receiver produces breaks down, then do with the time signal of reference clock the basis producing synchronous message.When using the master clock of second failure silence in distributed real-time systems, the complete failure of one of them can be tolerated in two master clocks like this.
As described below according to the embodiment favourable further of method of the present invention, and can implement in combination with any additionally, alternatively or each other.Following is all feasible:
-) monitor enters the starting stage upon actuation, measures the interval between continuous print synchronous message in initial segment, and between recording, be interposed between in working stage subsequently the interval being used as to recognize mistake between two continuous print synchronous messages;
-) central computer regularly produces message diagnosis, during being included in first phase in message diagnosis, the operating state of overall system and any exception or mistake;
-) data that are stored in configuration data blocks protect with wrong identification code;
-) data that are stored in configuration data blocks protect with error correcting code;
-) only have and between external input unit and central computer, to have entity when connecting, the parameter be stored in configuration data blocks just can be modified;
-) change the parameter being stored in configuration data blocks with the agreement of encipherment protection by the Internet;
-) field intensity of satellite receiver instrumented satellite signal pass to the exception allowing to recognize in satellite signals with central computer ditch;
-) synchronous message is with the protection that signs electronically;
-) syntactic structure of synchronous message is corresponding to SAE standard A S6802;
-) syntactic structure of synchronous message is corresponding to ieee standard 1588;
-) S-signal produces based on the satellite signals of gps system, and/or S-signal produces based on the satellite signals of Galileo system, and/or S-signal produces based on the satellite signals of GLONASS (GLANOSS) system;
-) when the fault of satellite receiver terminates Hou, the R-signal that reference clock produces is brought back with the difference of the highest predetermined sequential rate the S-signal again provided, to get rid of the tense difference of accumulating between R-signal and S-signal between age at failure.
By that class of mentioning in introduction for carrying out the equipment according to method of the present invention, particularly master clock, also the present invention can be reached.
This equipment preferably draws the R-signal of reference clock from temperature compensated quartz, or draws the R-signal of reference clock from atomic clock.
Summary of the invention
The object of the invention is to state the scheme producing reliable synchronous message clearly, especially meet the SAE standard A S6802 [8] of time triggered Ethernet and the scheme of ieee standard 1588 [9].
This object is reached by method according to the present invention, the method is to use following functions unit: for the satellite receiver from navigational satellite system time of reception signal (S-signal), produce the accurate reference clock of real time signal (R-signal), central computer, monitor and the data block for storage configuration parameter, wherein this satellite receiver regularly produces S-signal, wherein reference clock regularly produces R-signal, wherein the nominal frequency of R-signal is identical with phase place with the frequency of S-signal with phase place, and wherein nominal be used for, in future, this difference will be reduced to minimum with the difference of the R-signal of reality, and wherein in the normal situation of satellite receiver, produce based on S-signal according to the periodic synchronization message that the configuration parameter of central computer produces, and nominal be used for tense that (preferably in a short time) the adapt to reference clock sequential rate in S-signal and (preferably long-term in) adaptation reference clock in S-signal with the difference of the R-signal of reality, and the adaptation of the sequential rate of reference clock is wherein suspended when satellite receiver exception, and wherein when satellite receiver mistake, produce based on R-signal according to the periodic synchronization message that the configuration parameter of central computer produces, and whether the sender time that wherein monitor check synchronous message comprises conformed to the actual sender time, and whether the interval between two continuous print synchronous messages is in priori and fixes in the tolerance interval (Toleranzintervalls) of (a priori festgelegten), and as no, then to revise synchronous message so that each receiver in some manner and synchronous message is identified as mistake.
The master clock that focuses on of the present invention has three independently time sources, and it is proofreaded mutually and complementary: (1) originates from the periodic time signal of satellite receiver, the periodic time signal of (2) local reference clock with the periodic time of (3) separate monitor.Under normal circumstances, the central computer of master clock is using the time signal of satellite receiver as the basis producing periodic synchronization message, and the sequential rate of local reference clock is then adapted to the sequential rate of satellite receiver.When generation is abnormal, the field intensity of such as satellite signals become exceed normal interval outer time, then the sequential rate of reference clock is not corrected.Therefore, when central computer determination satellite signals mistake or fault, using reference clock as the basis producing periodic synchronization message.Separate monitor and central computer walk abreast, and check the time interval between the content of each synchronous message and continuous print synchronous message when not opening synchronous message, with the mistake occurred before being identified in closed synchronous message.When mistake recognized by monitor, the synchronous message that will send to be interrupted, or it to be revised in some manner so that each receiver can be identified as mistake modified synchronous message.In this wise, ensure that synchronous message correct on syntax is also correct simultaneously in terms of content with high probability.When using two independently master clocks in a system, tolerable master clock fault like this in this system.
The basic innovation of this method be about set up for generation of regular fail silent, with the master clock of the synchronous message of Ethernet compatibility, its provide in distributed real-time systems as global positioning system (GPS) the physical time that defines, and identify the mistake because hardware fault or security attack cause, and partly tolerate these mistakes.When two or more so independently master clocks of use, can set up fault-tolerant synchronous.
Accompanying drawing explanation
The present invention will do basis with figure below and lay down a definition with example.Unique accompanying drawing (Fig. 1) shows the internal structure of the master clock of fault Shen Mo.
Embodiment
Fig. 1 shows the structure chart of the master clock of fail silent.Master clock comprises three wrong isolated locations (FCU): (1) satellite receiver 110, (2) are containing the central computer 140 of reference clock 130 and (3) monitor 120.The parameter of the exact function of definition master clock is stored in configuration data blocks 210.The data be stored in configuration data blocks 210 can wrong identification code or error correcting code protection.Being connected by the entity between input unit and master clock is loaded into parameter in configuration data blocks 210, in case stop-pass crosses the attack of the fail safe of the Internet.Alternatively, the agreement by the Internet encipherment protection is loaded into configuration data blocks.
Satellite receiver 110 is regular time signal-S-signal-mail to central computer 140.Therewith concurrently, independent reference clock 130 is regular time signal-R-signal-mail to central computer 140.In faultless state, the sequential rate of S-signal and the R-signal of nominal can be the same with phase place.
Clock (such as temperature compensated oscillator or atomic clock) is arranged in reference clock accurately.In reference clock 130, when numeral is little/large, cell translation is changed in redirect is this R-signal expected at the interface with central computer 140 for the main signal of this clock generating accurately.Jumping converting unit when this numeral is little/large can by central computer parametrization, and tense and the sequential rate of the R-signal exported to make reference clock 130 can be modified in a digital manner.Under normal circumstances, the difference between the time signal-S-signal-come from satellite receiver 110 and the time signal-R-signal of the reality come from reference clock 130 measured by central computer 140, and jump converting unit time little/large by parametrization in some manner, with the R-signal making the R-signal of the reality come from reference clock 130 be adapted to (predetermined by the S-signal of satellite receiver) nominal.This adaptation occurs in two ways.In a short time, the tense of R-signal is adapted to the tense of S-signal.In long-term, the sequential rate of R-signal is adapted to the sequential rate of S-signal.Like this sequential rate of reference clock 130 is adapted to the predetermined S-signal of satellite system as a result, the accuracy of drift of R-signal can obtain the improvement [the 7,72nd page] up to two orders of magnitude.
Satellite receiver 130 receives navigation signal (navigational satellite system is such as gps system, GLANOSS system or the Galileo system in future) from navigational satellite system [6] and monitors the field intensity of these signals.This to the supervision of field intensity in order to learn that any security attack to satellite signals (such as GPS signal) carries out.In faultless state, the field intensity of GPS signal is in a general interval, and described general interval is determined by the field intensity of long-time interior measurement generation.When these field intensities spontaneously, change significantly and exceed this general interval time, just there is security attack in display.In principle, can to intercept attack and spoofing attack two kinds differentiation [5] is made to the security attack of satellite signals.When intercepting attack, GPS signal is disturbed, so that satellite receiver can not receive the correct message of syntax.Satellite receiver can be recognized simply and intercepts attack, because in fact signal disappears.When spoofing attack, produce that forge, that syntax is correct signal to upset receiver.Because the spoofing attack signal forged is overlapping with real GPS signal, the field intensity of deception signal will inevitably be in beyond general range.Between general field intensity and the state being consequently identified as mistake by spoofing attack definitely, have zone line, it is called as exception.When recognizing exception, suspend the correction to the sequential rate of reference clock, to prevent the clocked sequential rate of reference clock by may the occurring of satellite signals adapted to mistakenly to really at once.
In faultless situation, central computer 140 is regularly to produce the synchronous message 220 with Ethernet compatibility based on the S-signal come from satellite receiver 110, and described sync signal meets SAE standard A S6802 or the ieee standard 1588 of time triggered Ethernet.The parameter (frequency and phase place) of this message obtains from configuration data blocks 210.If necessary, synchronous message can sign electronically [7] protection, to guarantee the validity of message.Central computer 140 is by calculating and adding that CRC multinomial closes the synchronous message 220 closed, and the sender time accurately comprised in message mails to message the receiver of specifying.
When S-signal disappears from the interface between satellite receiver 110 and central computer 120, or when central computer is determined spoofing attack to satellite signals occurs, central computer 140 like this based on the R-signal come from reference clock 130 to produce synchronous message 220.When correct S-signal is again available, the tense difference between R-signal and S-signal determined by central computer at once, and by jumping the sequential rate of the parameter change reference clock 130 of converting unit time little/large, until R-signal conforms to S-signal again.Wherein, the sequential rate of reference clock is no more than the fixing maximum deviation of the priori that comprises configuration data blocks 220 from departing from of the sequential rate of satellite signals.After the tense of R-signal reaches the tense of S-signal, central computer at once again based on S-signal to produce synchronous message.
In normal operation, the synchronous message 220 closed that monitor 120 will be sent with straight-through (cut through) method inspection.Wherein, the time interval between two continuous print synchronous messages 220 measures with the clock of monitor 120, and the content of synchronous message is then examined.If beyond the tolerance interval determined before the time interval between two continuous print synchronous messages 220 is in, maybe when recognize content-based wrong time, then revise in some manner by the synchronous message 220 closed sent, so that such as the result of interrupting ahead of time of sender process, the receiver of this synchronous message 220 of each reception all can be identified as mistake synchronous message.Monitor sends error messages with error reason extraly toward central computer.
By being measured the message interval of the synchronous message of certain quantity in the initial phase of master clock by monitor 120, determine that tolerance is interval, it drafts permissible interval between two continuous print synchronous messages 220.Alternatively, this tolerance length of an interval degree can be drafted in configuration data blocks 210.
Central computer 140 termly (this regular time interval specifies in configuration data blocks 210) sends message diagnosis toward the diagnosis computer of specifying.All important parameters, any error messages such as measured the field intensity of the satellite signals of gained, the sequential rate of actual R-signal and tense difference and occur during upper first phase, all conveys to this diagnosis computer in this message diagnosis.
citing document
[1] US 5,694,542Kopetz, H.Time-triggered communication control unit and communication method. authorized on December 2nd, 1997.
[2] US 7,839,868.Kopetz, H.Communication method and system for the transmission of time-driven and event-driven Ethernet messages. authorized on November 23rd, 2010.
[3] US 8,089,991Ungermann.Network and method for clock synchronization of clusters in a time triggered network. authorized on January 3rd, 2012.
[4] US 8,018,950Wu, et al.Systems and methods for distributing GPS clock to communications devices. authorized on September 13rd, 2011.
[5] Warner, J.et.al.GPS Spoofing Countermeasures, Los Alamos National Laboratory. network address: http://lewisperdue.com/DieByWire/GPS-Vulnerability-LosAlamos.pd f
[6]Hofmann-Wellenhof,B.et al.GNSS-Global Navigation Satellite Systems:GPS,GLONASS,Galileo,and more.Springer publishing house,2007.
[7]Kopetz,H.Real-Time Systems,Design Principles for Distributed Embedded Applications.Springer publishing house.2011.
[8] SAE Standard AS6802von TT Ethernet. network address: http://standards.sae.org/as6802
[9] IEEE 1588Standard for a Precision Clock Synchronization Protocol for Network Measurement and Control Systems. network address: http://www.ieee1588.com/
Claims (18)
1. for producing the method for the synchronous message of fail silent in distributed real-time systems,
It is characterized in that
The method uses following functions unit: for the satellite receiver (110) from navigational satellite system time of reception signal (S-signal), produce the accurate reference clock (130) of real time signal (R-signal), central computer (140), monitor (120) and the data block (210) for storage configuration parameter, wherein this satellite receiver (110) regularly produces S-signal, wherein this reference clock (130) regularly produces R-signal, wherein the nominal frequency of this R-signal is identical with phase place with the frequency of this S-signal with phase place, and wherein nominal be used for, in future, this difference will be reduced to minimum with the difference of the R-signal of reality, and wherein in the normal situation of this satellite receiver (110), produce based on this S-signal according to this periodic synchronization message (220) that the configuration parameter (210) of this central computer (140) produces, and being used for tense that (preferably in a short time) adapt to this reference clock (130) in this S-signal and (preferably long-term in) with the difference of the R-signal of this reality and adapting to the sequential rate of this reference clock (130) in this S-signal of this nominal, and the adaptation of this sequential rate of this reference clock (120) is wherein suspended when this satellite receiver (110) is abnormal, and wherein when this satellite receiver (110) mistake, this periodic synchronization message (220) that this configuration parameter (210) according to this central computer (140) produces produces based on this R-signal, and wherein this monitor (120) checks whether the sender time that this synchronous message comprises conformed to the actual sender time, and whether the interval between two continuous print synchronous messages (220) is in the fixing tolerance interval of priori, and as no, then revise this synchronous message (220) so that each receiver in some manner and this synchronous message (220) is identified as mistake.
2. the method for claim 1, it is characterized in that this monitor (120) enters the starting stage upon actuation, in this initial segment, measure the interval between continuous print synchronous message (220), and the interval using this to record in working stage is subsequently to recognize the interval of mistake between two continuous print synchronous messages (220).
3. the method for claim 1, is characterized in that this central computer (140) regularly produces message diagnosis, during being included in first phase in this message diagnosis, and the operating state of overall system and any exception or mistake.
4. as claims 1 to 3 arbitrary as described in method, it is characterized in that the data being stored in this configuration data blocks (210) are protected with wrong identification code.
5. as Claims 1-4 arbitrary as described in method, it is characterized in that the data being stored in this configuration data blocks (210) are protected with error correcting code.
6. as claim 1 to 5 arbitrary as described in method, it is characterized in that only having and between external input unit and this central computer (140), to have entity when connecting, the parameter be stored in this configuration data blocks (210) just can be modified.
7. as claim 1 to 6 arbitrary as described in method, it is characterized in that being stored in the parameter of this configuration data blocks (210) by the Internet with the change of the agreement of encipherment protection.
8. as claim 1 to 7 arbitrary as described in method, it is characterized in that the field intensity of this satellite receiver (110) instrumented satellite signal and pass to this central computer (140) ditch and allow to recognize the exception in these satellite signals.
9. as claim 1 to 8 arbitrary as described in method, it is characterized in that this synchronous message (220) is with the protection that signs electronically.
10. as claim 1 to 9 arbitrary as described in method, it is characterized in that the syntactic structure of this synchronous message (220) is corresponding to SAE standard A S6802.
11. as claim 1 to 10 arbitrary as described in method, it is characterized in that the syntactic structure of this synchronous message (220) is corresponding to ieee standard 1588.
12. as claim 1 to 11 arbitrary as described in method, it is characterized in that this S-signal produces based on the satellite signals of gps system.
13. as claim 1 to 12 arbitrary as described in method, it is characterized in that this S-signal produces based on the satellite signals of Galileo system.
14. as claim 1 to 13 arbitrary as described in method, it is characterized in that this S-signal produces based on the satellite signals of glonass system.
15. as claim 1 to 14 arbitrary as described in method, it is characterized in that the fault when this satellite receiver (110) terminates Hou, this R-signal that this reference clock (130) produces is led back to the difference of the highest predetermined sequential rate this S-signal again provided, to get rid of the tense difference of accumulating between this R-signal and this S-signal between age at failure.
16. for carry out as claim 1 to 15 arbitrary as described in the equipment of method.
17. equipment as claimed in claim 16, is characterized in that this R-signal of this reference clock (130) draws from temperature compensated quartz.
18. equipment as claimed in claim 16, is characterized in that this R-signal of this reference clock (130) draws from atomic clock.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ATA432/2012 | 2012-04-11 | ||
| ATA432/2012A AT512743A1 (en) | 2012-04-11 | 2012-04-11 | Method and master clock for creating fail-silent synchronization messages |
| PCT/AT2013/050083 WO2013152378A1 (en) | 2012-04-11 | 2013-04-09 | Method and master clock for generating fail-silent synchronization messages |
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| Publication Number | Publication Date |
|---|---|
| CN104365042A true CN104365042A (en) | 2015-02-18 |
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| CN201380030537.6A Pending CN104365042A (en) | 2012-04-11 | 2013-04-09 | Method and master clock for generating fail-silent synchronization messages |
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| Country | Link |
|---|---|
| US (1) | US9130661B2 (en) |
| EP (1) | EP2803154B1 (en) |
| JP (1) | JP6113829B2 (en) |
| CN (1) | CN104365042A (en) |
| AT (1) | AT512743A1 (en) |
| WO (1) | WO2013152378A1 (en) |
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| IL235356A (en) | 2014-10-27 | 2016-02-29 | Accubeat Ltd | Method and apparatus for providing secure timing synchronization from gnss |
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| CN109492220B (en) * | 2018-10-30 | 2022-10-21 | 中国空间技术研究院 | Method for automatically detecting errors of satellite remote measurement parameter position information |
| CN111726185B (en) * | 2019-03-20 | 2022-10-04 | 北京米文动力科技有限公司 | Method for synchronizing system clocks of external device and local computing device |
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| JP6113829B2 (en) | 2017-04-12 |
| US20150098492A1 (en) | 2015-04-09 |
| EP2803154A1 (en) | 2014-11-19 |
| EP2803154B1 (en) | 2020-08-12 |
| US9130661B2 (en) | 2015-09-08 |
| AT512743A1 (en) | 2013-10-15 |
| JP2015523613A (en) | 2015-08-13 |
| WO2013152378A1 (en) | 2013-10-17 |
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